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Supervisory Coordination of Robotic Fiber Positioners in Multi-Object Spectrographs
Matin Macktoobian, Denis Gillet, Jean-Paul Kneib
In this paper, we solve the complete coordination problem of robotic fiber positioners using supervisory control theory. In particular, we model positioners and their behavioral sp…
Learning convergence prediction of astrobots in multi-object spectrographs
Matin Macktoobian, Francesco Basciani, Denis Gillet +1
Astrobot swarms are used to capture astronomical signals to generate the map of the observable universe for the purpose of dark energy studies. The convergence of each swarm in the…
Astrobotics: Swarm Robotics for Astrophysical Studies
Matin Macktoobian, Denis Gillet, Jean-Paul Kneib
This paper introduces the emerging field of astrobotics, that is, a recently-established branch of robotics to be of service to astrophysics and observational astronomy. We first d…
Experimental evaluation of complete safe coordination of astrobots for Sloan Digital Sky Survey V
Matin Macktoobian, Ricardo Araújo, Loïc Grossen +4
The data throughput of massive spectroscopic surveys in the course of each observation is directly coordinated with the number of optical fibers which reach their target. In this p…
Complete coordination of robotic fiber positioners for massive spectroscopic surveys
Matin Macktoobian, Denis Gillet, Jean-Paul Kneib
Robotic fiber positioners play a vital role in the generation of massive spectroscopic surveys. The more complete a positioners set is coordinated, the more information its corresp…
Optimal target assignment for massive spectroscopic surveys
Matin Macktoobian, Denis Gillet, Jean-Paul Kneib
Robotics have recently contributed to cosmological spectroscopy to automatically obtain the map of the observable universe using robotic fiber positioners. For this purpose, an ass…
The DESI Experiment Part II: Instrument Design
DESI Collaboration, Amir Aghamousa, Jessica Aguilar +290
DESI (Dark Energy Spectropic Instrument) is a Stage IV ground-based dark energy experiment that will study baryon acoustic oscillations and the growth of structure through redshift…
The DESI Experiment Part I: Science,Targeting, and Survey Design
DESI Collaboration, Amir Aghamousa, Jessica Aguilar +290
DESI (Dark Energy Spectroscopic Instrument) is a Stage IV ground-based dark energy experiment that will study baryon acoustic oscillations (BAO) and the growth of structure through…
Collision-free motion planning for fiber positioner robots: discretization of velocity profiles
Laleh Makarem, Jean-Paul Kneib, Denis Gillet +6
The next generation of large-scale spectroscopic survey experiments such as DESI, will use thousands of fiber positioner robots packed on a focal plate. In order to maximize the ob…
Developing Micro DC-Brushless Motor Driver and Position Control for Fiber Positioners
Laurent Jenni, Philipp Hörler, Laleh Makarem +7
In the large-scale, Dark Energy Spectroscopic Instrument (DESI), thousands of fiber positioners will be used. Those are robotic positioners, with two axis, and having the size of a…
Collision Avoidance in Next-generation Fiber Positioner Robotic System for Large Survey Spectrograph
Laleh Makarem, Jean-Paul Kneib, Denis Gillet +5
Some of the next generation massive spectroscopic survey projects, such as DESI and PFS, plan to use thousands of fiber positioner robots packed at a focal plane to quickly move in…